Merge pull request mavlink#4695 from nanthony21/improve_deadband

Improve deadband
muramura · Mar 29, 2017 · 5c7f03a · 5c7f03a
2 parents f0c7608 + 279d560
commit 5c7f03a
Showing 1 changed file with 12 additions and 5 deletions.
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
@@ -339,13 +339,20 @@ float Joystick::_adjustRange(int value, Calibration_t calibration, bool withDead
         axisLength =  calibration.center - calibration.min;
     }
 
+    float axisPercent;
+
     if (withDeadbands) {
-        if (valueNormalized>calibration.deadband) valueNormalized-=calibration.deadband;
-        else if (valueNormalized<-calibration.deadband) valueNormalized+=calibration.deadband;
-        else valueNormalized = 0.f;
+        if (valueNormalized>calibration.deadband) {
+            axisPercent = (valueNormalized - calibration.deadband) / (axisLength - calibration.deadband);
+        } else if (valueNormalized<-calibration.deadband) {
+            axisPercent = (valueNormalized + calibration.deadband) / (axisLength - calibration.deadband);
+        } else {
+            axisPercent = 0.f;
+        }
+    }
+    else {
+        axisPercent = valueNormalized / axisLength;
     }
-
-    float axisPercent = valueNormalized / axisLength;
 
     float correctedValue = axisBasis * axisPercent;